// --------------------------------------------------------------------------------------------------------------------
// <copyright file="MobileBaseVelocityReference.cs" company="Microsoft Corporation">
// The MIT License (MIT)
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// Copyright (c) 2014, Microsoft Corporation
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namespace Microsoft.Robotics.Navigation.Motion
{
    /// <summary>
    /// Represents a desired motion of a mobile base.
    /// All values are relative to the robot's coordinate frame.
    /// </summary>
    public class MobileBaseVelocityReference
    {
        /// <summary>
        /// Initializes a new instance of the MobileBaseVelocityReference class
        /// </summary>
        /// <param name="xxxInMetersPerSecond">Velocity along x-axis in meters per second</param>
        /// <param name="yyyInMetersPerSecond">Velocity along y-axis in meters per second</param>
        /// <param name="thetaInRadiansPerSecond">Rotational velocity in radians per second</param>
        public MobileBaseVelocityReference(
            double xxxInMetersPerSecond, double yyyInMetersPerSecond, double thetaInRadiansPerSecond)
        {
            this.XInMetersPerSecond = xxxInMetersPerSecond;
            this.YInMetersPerSecond = yyyInMetersPerSecond;
            this.ThetaInRadiansPerSecond = thetaInRadiansPerSecond;
        }

        /// <summary>
        /// Initializes a new instance of the MobileBaseVelocityReference class
        /// </summary>
        public MobileBaseVelocityReference()
        {
        }

        /// <summary>
        /// Gets or sets desired motion along X axis
        /// </summary>
        public double XInMetersPerSecond { get; set; }

        /// <summary>
        /// Gets or sets desired motion along the Y axis
        /// </summary>
        public double YInMetersPerSecond { get; set; }

        /// <summary>
        /// Gets or sets desired rotation around the robot's Z axis
        /// </summary>
        public double ThetaInRadiansPerSecond { get; set; }
    }
}
